U.S. patent application number 17/244177 was filed with the patent office on 2022-07-28 for driving apparatus and driving controlling method.
This patent application is currently assigned to HANWHA DEFENSE CO., LTD.. The applicant listed for this patent is HANWHA DEFENSE CO., LTD.. Invention is credited to Hee Seo CHAE, Jae Chan PARK.
Application Number | 20220234608 17/244177 |
Document ID | / |
Family ID | |
Filed Date | 2022-07-28 |
United States Patent
Application |
20220234608 |
Kind Code |
A1 |
CHAE; Hee Seo ; et
al. |
July 28, 2022 |
DRIVING APPARATUS AND DRIVING CONTROLLING METHOD
Abstract
Provided is a driving apparatus including a body, a surroundings
detection unit detecting surroundings of the body, the surrounding
detection unit including a light detection and ranging (LIDAR)
device and a camera, and at least one processor configured to
control the driving of the body based on a detection result from
the surroundings detection unit, wherein the at least one processor
is further configured to detect a ramp and flat ground that are
present on a driving path based on an image obtained by the camera,
and determine the detected ramp or the detected flat ground from a
detection result from the LIDAR device as a non-obstacle.
Inventors: |
CHAE; Hee Seo; (Changwon-si,
KR) ; PARK; Jae Chan; (Changwon-si, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HANWHA DEFENSE CO., LTD. |
Changwon-si |
|
KR |
|
|
Assignee: |
HANWHA DEFENSE CO., LTD.
Changwon-si
KR
|
Appl. No.: |
17/244177 |
Filed: |
April 29, 2021 |
International
Class: |
B60W 60/00 20060101
B60W060/00; G06K 9/00 20060101 G06K009/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 28, 2021 |
KR |
10-2021-0012213 |
Claims
1. A driving apparatus comprising: a body; a surroundings detection
unit detecting surroundings of the body, the surrounding detection
unit comprising a light detection and ranging (LIDAR) device and a
camera; and at least one processor configured to control the
driving of the body based on a detection result from the
surroundings detection unit, wherein the at least one processor is
further configured to detect a ramp and flat ground that are
present on a driving path based on an image obtained by the camera,
and determine the detected ramp or the detected flat ground from a
detection result from the LIDAR device as a non-obstacle.
2. The driving apparatus of claim 1, wherein the LIDAR device is
configured to generate a three-dimensional (3D) map of the
surroundings of the body based on emitting light to the
surroundings of the body and receiving reflected light from an
object.
3. The driving apparatus of claim 1, wherein the at least one
processor is further configured to detect the ramp and the flat
ground that are present on the driving path based on a moving
direction of a feature pattern included in the image obtained by
the camera in an image area.
4. The driving apparatus of claim 3, wherein based on the feature
pattern ascending in the image area when the body is moving on flat
ground, the at least one processor is configured to determine that
the body is approaching an ascending ramp.
5. The driving apparatus of claim 3, wherein based on the feature
pattern descending in the image area when the body is moving on
flat ground, the at least one processor is further configured to
determined that the body is entering an ascending ramp.
6. The driving apparatus of claim 3, wherein based on the feature
pattern ascending in the image area when the body is moving along
an ascending ramp, the at least one processor is further configured
to determine that the body is entering flat ground connected to an
upper part of the ascending ramp.
7. The driving apparatus of claim 3, wherein based on the feature
pattern descending in the image area when the body is moving on
flat ground, the at least one processor is further configured to
determine that the body is approaching a descending ramp.
8. The driving apparatus of claim 3, wherein based on the feature
pattern ascending in the image area when the body is moving on flat
ground, the at least one processor is further configured to
determine that the body is entering a descending ramp.
9. The driving apparatus of claim 3, wherein based on the feature
pattern descending in the image area when the body is moving along
a descending ramp, the at least one processor is further configured
to determine that the body is approaching flat ground connected to
a lower part of the descending ramp.
10. The driving apparatus of claim 3, wherein based on the feature
pattern not being recognized from the image area, the at least one
processor is further configured to apply a first weight to the
detection result from the LIDAR device and a second weight a
detection result from the camera, and detect the ramp and the flat
ground that are present on the driving path based on the first
weight-applied detection result from the LIDAR device and the
second weight-applied detection result from the camera.
11. The driving apparatus of claim 10, wherein based on the body is
moving along a ramp, the at least one processor is further
configured to lower the first weight applied to the detection
result from the LIDAR device and raise the second weight applied to
the detection result from the camera, compared to when the body is
entering the ramp.
12. The driving apparatus of claim 3, wherein the feature pattern
includes at least one of a horizon, a vanishing point, and a lower
boundary line, and wherein the lower boundary line includes a
boundary between a lower part of a descending ramp and flat
ground.
13. A driving controlling method for controlling the driving of a
driving apparatus, the driving controlling method comprising:
detecting surroundings of a body of the driving apparatus; and
controlling the driving of the body based on a result of the
detecting the surroundings of the body, wherein the detecting the
surroundings of the body is performed by a light detection and
ranging (LIDAR) device and a camera, and wherein the controlling
the driving of the body further comprises detecting a ramp and flat
ground that are present on a driving path of the body based on an
image obtained by the camera, and determining the detected ramp or
the detected flat ground from a detection result from the LIDAR
device as a non-obstacle.
14. The driving controlling method of claim 13, wherein the
detecting the surroundings of the body comprises generating, by the
LIDAR device, a three-dimensional (3D) map of the surroundings of
the body by emitting light to the surroundings of the body and
receiving reflected light from an object.
15. The driving controlling method of claim 13, wherein the
controlling the driving of the body further comprises detecting the
ramp and the flat ground that are present on the driving path based
on a moving direction of a feature pattern included in the image
obtained by the camera, in an image area.
16. The driving controlling method of claim 15, wherein the
controlling the driving of the body further comprises: determining
that the body is approaching an ascending ramp based on the feature
pattern ascending in the image area when the body is moving on flat
ground; determining that the body is entering an ascending ramp
based on the feature pattern descending in the image area when the
body is moving on flat ground; and determining that the body is
entering flat ground connected to an upper part of an ascending
ramp based on the feature pattern ascending in the image area when
the body is moving along an ascending ramp.
17. The driving controlling method of claim 15, wherein the
controlling the driving of the body further comprises: determining
that the body is approaching a descending ramp based on the feature
pattern descending in the image area when the body is moving on
flat ground; determining that the body is entering a descending
ramp based on the feature pattern ascending in the image area when
the body is moving on flat ground; and determining that the body is
approaching flat ground connected to a lower part of a descending
ramp based on the feature pattern descending in the image area when
the body is moving along a descending ramp.
18. The driving controlling method of claim 15, wherein the
controlling the driving of the body further comprises, based on the
feature pattern not being recognized from the image area, applying
a first weight to the detection result from the LIDAR device and a
second weight to a detection result from the camera, and detecting
the ramp and the flat ground that are present on the driving path
based on the first weight-applied detection result from the LIDAR
device and the second weight-applied detection result from the
camera.
19. The driving controlling method of claim 18, wherein the
controlling the driving of the body further comprises, based on the
body is moving along a ramp, lowering the first weight applied to
the detection result from the LIDAR device and raising the second
weight applied to the detection result from the camera, compared to
when the body is entering the ramp.
20. The driving controlling method of claim 15, wherein the feature
pattern includes at least one of a horizon, a vanishing point, and
a lower boundary line, and wherein the lower boundary line includes
a boundary between a lower part of a descending ramp and flat
ground.
Description
CROSS-REFERENCE TO THE RELATED APPLICATION
[0001] This application claims priority to Korean Patent
Application No. 10-2021-0012213, filed on Jan. 28, 2021, the
entirety of which is incorporated herein by reference.
BACKGROUND
Field
[0002] Example embodiments of the present disclosure relate to a
driving apparatus and a driving controlling method, and more
particularly, to a driving apparatus and a driving controlling
method, which are capable of enabling driving without recognizing
flat ground viewed from a ramp or a ramp viewed from flat ground as
an obstacle.
2. Description of Related Art
[0003] An unmanned autonomous vehicle can perform operations while
moving around in various areas. For autonomous driving, the
unmanned autonomous vehicle may be provided with sensing devices
for sensing its surroundings and may move along a driving path that
can avoid any obstacle based on the results of the sensing
performed by the sensing devices.
[0004] Light detection and ranging (LIDAR) device may be used to
detect the surroundings of the unmanned autonomous vehicle, and
anti-shake technology may be used to improve the detection quality
of LIDAR device.
SUMMARY
[0005] One or more example embodiments of the present disclosure
provide a driving apparatus and a driving controlling method, which
are capable of enabling driving without recognizing flat ground
viewed from a ramp or a ramp viewed from flat ground as an
obstacle.
[0006] However, embodiments of the present disclosure are not
restricted to those set forth herein. The above and other
embodiments of the present disclosure will become more apparent to
one of ordinary skill in the art to which the present disclosure
pertains by referencing the detailed description of the present
disclosure given below.
[0007] According to an aspect of an example embodiment, there is
provided a driving apparatus including a body, a surroundings
detection unit detecting surroundings of the body, the surrounding
detection unit including a light detection and ranging (LIDAR)
device and a camera, and at least one processor configured to
control the driving of the body based on a detection result from
the surroundings detection unit, wherein the at least one processor
is further configured to detect a ramp and flat ground that are
present on a driving path based on an image obtained by the camera,
and determine the detected ramp or the detected flat ground from a
detection result from the LIDAR device as a non-obstacle.
[0008] The LIDAR device may be configured to generate a
three-dimensional (3D) map of the surroundings of the body based on
emitting light to the surroundings of the body and receiving
reflected light from an object.
[0009] The at least one processor may be further configured to
detect the ramp and the flat ground that are present on the driving
path based on a moving direction of a feature pattern included in
the image obtained by the camera in an image area.
[0010] Based on the feature pattern ascending in the image area
when the body is moving on flat ground, the at least one processor
may be configured to determine that the body is approaching an
ascending ramp.
[0011] Based on the feature pattern descending in the image area
when the body is moving on flat ground, the at least one processor
may be further configured to determined that the body is entering
an ascending ramp.
[0012] Based on the feature pattern ascending in the image area
when the body is moving along an ascending ramp, the at least one
processor may be further configured to determine that the body is
entering flat ground connected to an upper part of the ascending
ramp.
[0013] Based on the feature pattern descending in the image area
when the body is moving on flat ground, the at least one processor
may be further configured to determine that the body is approaching
a descending ramp.
[0014] Based on the feature pattern ascending in the image area
when the body is moving on flat ground, the at least one processor
may be further configured to determine that the body is entering a
descending ramp.
[0015] Based on the feature pattern descending in the image area
when the body is moving along a descending ramp, the at least one
processor may be further configured to determine that the body is
approaching flat ground connected to a lower part of the descending
ramp.
[0016] Based on the feature pattern not being recognized from the
image area, the at least one processor may be further configured to
apply a first weight to the detection result from the LIDAR device
and a second weight a detection result from the camera, and detect
the ramp and the flat ground that are present on the driving path
based on the first weight-applied detection result from the LIDAR
device and the second weight-applied detection result from the
camera.
[0017] Based on the body is moving along a ramp, the at least one
processor may be further configured to lower the first weight
applied to the detection result from the LIDAR device and raise the
second weight applied to the detection result from the camera,
compared to when the body is entering the ramp.
[0018] The feature pattern may include at least one of a horizon, a
vanishing point, and a lower boundary line, and the lower boundary
line may include a boundary between a lower part of a descending
ramp and flat ground.
[0019] According to another aspect of an example embodiment, there
is provided a driving controlling method for controlling the
driving of a driving apparatus, the driving controlling method
including detecting surroundings of a body of the driving
apparatus, and controlling the driving of the body based on a
result of the detecting the surroundings of the body, wherein the
detecting the surroundings of the body is performed by a light
detection and ranging (LIDAR) device and a camera, and wherein the
controlling the driving of the body further includes detecting a
ramp and flat ground that are present on a driving path of the body
based on an image obtained by the camera, and determining the
detected ramp or the detected flat ground from a detection result
from the LIDAR device as a non-obstacle.
[0020] The detecting the surroundings of the body may include
generating, by the LIDAR device, a three-dimensional (3D) map of
the surroundings of the body by emitting light to the surroundings
of the body and receiving reflected light from an object.
[0021] The controlling the driving of the body may further include
detecting the ramp and the flat ground that are present on the
driving path based on a moving direction of a feature pattern
included in the image obtained by the camera, in an image area.
[0022] The controlling the driving of the body may further include
determining that the body is approaching an ascending ramp based on
the feature pattern ascending in the image area when the body is
moving on flat ground, determining that the body is entering an
ascending ramp based on the feature pattern descending in the image
area when the body is moving on flat ground, and determining that
the body is entering flat ground connected to an upper part of an
ascending ramp based on the feature pattern ascending in the image
area when the body is moving along an ascending ramp.
[0023] The controlling the driving of the body may further include
determining that the body is approaching a descending ramp based on
the feature pattern descending in the image area when the body is
moving on flat ground, determining that the body is entering a
descending ramp based on the feature pattern ascending in the image
area when the body is moving on flat ground, and determining that
the body is approaching flat ground connected to a lower part of a
descending ramp based on the feature pattern descending in the
image area when the body is moving along a descending ramp.
[0024] The controlling the driving of the body may further include,
based on the feature pattern not being recognized from the image
area, applying a first weight to the detection result from the
LIDAR device and a second weight to a detection result from the
camera, and detecting the ramp and the flat ground that are present
on the driving path based on the first weight-applied detection
result from the LIDAR device and the second weight-applied
detection result from the camera.
[0025] The controlling the driving of the body may further include,
based on the body is moving along a ramp, lowering the first weight
applied to the detection result from the LIDAR device and raising
the second weight applied to the detection result from the camera,
compared to when the body is entering the ramp.
[0026] The feature pattern may include at least one of a horizon, a
vanishing point, and a lower boundary line, and the lower boundary
line may include a boundary between a lower part of a descending
ramp and flat ground.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The above and/or other embodiments and features of the
present disclosure will become more apparent by describing in
detail example embodiments thereof with reference to the attached
drawings, in which:
[0028] FIG. 1 illustrates a driving apparatus according to an
example embodiment;
[0029] FIG. 2 is a block diagram of a surroundings detection unit
200 of FIG. 1 according to an example embodiment;
[0030] FIG. 3 illustrates the sensing direction of the surroundings
detection unit 200 in FIG. 1 according to an example
embodiment;
[0031] FIGS. 4 and 5 illustrate images generated by the camera 220
in FIG. 1 according to an example embodiment, and FIG. 6
illustrates a lower boundary line according to an example
embodiment;
[0032] FIGS. 7 and 8 illustrate a method to exclude a ramp as a
non-obstacle according to an example embodiment;
[0033] FIGS. 9, 10, 11, and 12 illustrate how the driving apparatus
10 in FIG. 1 moves along a driving path including an ascending ramp
according to an example embodiment;
[0034] FIGS. 13, 14, 15, and 16 illustrate images captured by the
camera 220 in FIG. 1 when the driving apparatus 10 moves along a
driving path including an ascending ramp according to an example
embodiment;
[0035] FIGS. 17, 18, 19, and 20 illustrate how the driving
apparatus 10 in FIG. 1 moves along a driving path including a
descending ramp according to an example embodiment;
[0036] FIGS. 21, 22, 23, and 24 illustrate images captured by the
camera 220 in FIG. 1 while the driving apparatus 10 is moving along
a driving path including a descending ramp according to an example
embodiment;
[0037] FIG. 25 is a flowchart illustrating the operation of the
control unit 300 in FIG. 1 according to an example embodiment;
and
[0038] FIG. 26 illustrates changes in weights applied to detection
results of the LiDAR unit 210 and the camera 220 according to an
example embodiment.
DETAILED DESCRIPTION
[0039] Hereinafter, example embodiments will be described in detail
with reference to the accompanying drawings. Advantages and
features of the example embodiments, and a method of achieving them
will be apparent with reference to the example embodiments
described below in detail together with the accompanying drawings.
However, embodiments are not limited to the example embodiments
described below, but may be implemented in various different forms,
and these example embodiments are only provided to inform the scope
of the present disclosure to those of ordinary skill in the
technical field. The present disclosure is only defined by the
scope of the claims. The same reference numerals refer to the same
components throughout the specification.
[0040] Unless otherwise defined, all terms (including technical and
scientific terms) used in the present disclosure may be used as
meanings that can be commonly understood by those of ordinary skill
in the art. In addition, terms defined in a commonly used
dictionary are not interpreted ideally or excessively unless
explicitly defined specifically.
[0041] FIG. 1 illustrates a driving apparatus according to an
example embodiment, and FIG. 2 is a block diagram of a surroundings
detection unit 200 of FIG. 1.
[0042] Referring to FIG. 1, a driving apparatus 10 includes a body
100, a surroundings detection unit 200, a control unit 300, an
operating unit 400, and a driving unit 500.
[0043] The body 100 may form the exterior of the driving apparatus
10. The surroundings detection unit 200, the control unit 300, the
operating unit 400, and the driving unit 500 may be provided inside
or outside the body 100.
[0044] The surroundings detection unit 200 may detect the
surroundings of the body 100. The surroundings detection unit 200
may detect the driving direction of the driving apparatus 10.
[0045] Referring to FIG. 2, the surroundings detection unit 200 may
include a light detection and ranging (LIDAR) unit 210, a camera
220, a posture detection unit 230, and a location detection unit
240.
[0046] The LIDAR unit 210 may be a LIDAR device configured to
create a three-dimensional (3D) map of the surroundings of the body
100 by emitting light to the surroundings of the body 100 and
receiving reflected light from objects in the surroundings of the
body 100. The objects in the surroundings of the body 100 can be
detected based on the 3D map created by the LIDAR unit 210.
[0047] The camera 220 may capture and generate an image of the
surroundings of the body 100. The image generated by the camera 220
may be a still image or a moving image. The posture detection unit
230 may detect the posture of the body 100. For example, the
posture detection unit 230 may detect the posture of the body 100
with respect to the surface of the sea. The posture detection unit
230 may include at least one of a gravity sensor, an acceleration
sensor, and a gyro sensor. The location detection unit 240 may
determine the location of the body 100. For example, the location
detection unit 240 may include a global positioning system (GPS)
receiver. In this example, the location detection unit 240 may
determine the absolute coordinates of the body 100 on the ground
based on received satellite signals.
[0048] Referring again to FIG. 1, the control unit 300 may control
the driving of the body 100 based on the detection result from the
surroundings detection unit 200. For example, the control unit 300
may control the body 100, based on the detection result from the
surroundings detection unit 200, to continue or stop traveling to
avoid any obstacle.
[0049] Specifically, the control unit 300 may detect a ramp and
flat ground that are present on a driving path based on the image
generated by the camera 220 and may exclude a detected ramp and
detected flat ground as non-obstacles. When the driving apparatus
10 approaches a ramp while being driven on flat ground or
approaches flat ground while driving on a ramp, the ramp or the
flat ground may be recognized as an obstacle by the LIDAR unit 210.
As a result, the driving apparatus 10 may stop traveling.
[0050] To prevent this type of malfunction, the control unit 300
may recognize a ramp and flat ground by analyzing the image
generated by the camera 220. Then, if the driving apparatus 10
approaches a ramp while being driven on flat ground or approaches
flat ground while driving on a ramp, the control unit 300 may
determine the ramp or the flat ground detected by the LIDAR unit
210 as a non-obstacle and exclude the ramp or the flat ground
detected from being determined as an obstacle. As the ramp or the
flat ground detected by the LIDAR unit 210 is excluded, the driving
apparatus 10 may continue to travel even upon encountering and
approaching the ramp or the flat ground.
[0051] The operating unit 400 may generate a driving force for
driving the body 100. The driving force from the operating unit 400
may be transmitted to the driving unit 500, and the body 100 may be
driven in accordance with the operation of the driving unit 500.
For example, the operating unit 400 may include a motor, and the
driving unit 500 may be provided in the form of wheels, tracks,
legs, or propellers. For example, the driving apparatus 10 may be
provided in the form of a vehicle or a robot.
[0052] FIG. 3 illustrates the sensing direction of the surroundings
detection unit 200 in FIG. 1 according to an example embodiment,
FIGS. 4 and 5 illustrate images generated by the camera 220 in FIG.
1 according to example embodiments, and FIG. 6 illustrates a lower
boundary line.
[0053] Referring to FIG. 3, the surroundings detection unit 200 may
detect the driving direction of the body 100. For example, the
LIDAR unit 210 and the camera 220 of the surroundings detection
unit 200 may detect the driving direction of the body 100.
[0054] The detection result from the LIDAR unit 210 and the
detection result from the camera 220 may be transmitted to the
control unit 300, and the control unit 300 may control the driving
of the body 100 based on the detection result from the LIDAR unit
210 and the detection result from the camera 220.
[0055] The control unit 300 may detect a ramp and flat ground that
are present on the driving path with reference to the moving
direction of a feature pattern in an image area generated by the
camera 220. The feature pattern may include at least one of a
horizon, a vanishing point, and a lower boundary line.
[0056] Referring to FIG. 4, a horizon 630 or a lower boundary line
640 may be a line that horizontally divides an image area 600 of an
image generated by the camera 220.
[0057] For example, when the image area 600 is divided into upper
and lower areas 610 and 620, the control unit 300 may determine the
boundary between the upper and lower areas 610 and 620 as the
horizon 630 or the lower boundary line 640 by analyzing the image
generated by the camera 220.
[0058] In addition, for example, the control unit 300 may analyze
the upper and lower areas 610 and 620 of the image area 600 and may
determine what the upper and lower areas 610 and 620 are. For
example, when the upper and lower areas 610 and 620 of the image
area 600 are determined as being the sky and the ground,
respectively, the control unit 300 may determine the boundary
between the upper and lower areas 610 and 620 as the horizon 630.
For example, when the upper and lower areas 610 and 620 of the
image area 600 are determined as both being the ground, the control
unit 300 may determine the boundary between the upper and lower
areas 610 and 620 as the lower boundary line 640.
[0059] The lower boundary line 640 may be the boundary between a
descending ramp and flat ground. Referring to FIG. 6, a ramp 20 may
be connected to flat grounds 30 and 40. For example, upper and
lower parts of the ramp 20 may be connected to the flat grounds 30
and 40, respectively. The flat grounds 30 and 40, to which the
upper and lower parts of the ramp 20 are respectively connected,
will hereinafter be referred to as upper flat ground 30 and lower
flat ground 40.
[0060] The driving apparatus 10 may move along the ramp 20. The
altitude of the driving apparatus 20 may increase or decrease in
accordance with the inclination direction of the ramp 20. The ramp
20 will hereinafter be referred to as an ascending ramp 20 if the
altitude of the driving apparatus 10 increases while the driving
apparatus 10 is being driven on the ramp 20 or as a descending ramp
20 if the altitude of the driving apparatus 10 decreases while the
driving apparatus 10 is being driven on the ramp 20.
[0061] The lower boundary line 640 may include a boundary line
representing the boundary between the lower part of the ramp 20 and
the lower flat ground 40. The image generated by the camera 220 may
include the descending ramp 20 and the lower flat ground 40 when
the driving apparatus 10 is being driven on the descending ramp 20.
Referring to FIGS. 4 and 6, in a case where both the upper and
lower areas 610 and 620 of the image area 600 are determined as
both being the ground and being separated from each other, the
control unit 300 may determine that the boundary between the upper
and lower areas 610 and 620 as the lower boundary line 640.
[0062] Referring to FIG. 5, the vanishing point 650 refers to a
point where extensions of boundary lines 660 from different
patterns included in the image area 600 meet.
[0063] The image area 600 may include a plurality of boundary lines
660, which are arranged at an inclination with respect to each
other. The boundary lines 660 may be lines that separate both
boundaries of the driving path from other areas.
[0064] Referring again to FIG. 3, the control unit 300 may detect
the ramp 20 and the flat grounds 30 and 40 that are present on the
driving path with reference to the moving direction of the feature
pattern included in the image generated by the camera 220, in the
image area 600. For example, the control unit 300 may detect the
ramp 20 and the flat grounds 30 and 40 based on whether the feature
pattern is ascending or descending in the image area 600. The
detection of the ramp 20 and the flat grounds 30 and 40 based on
the moving direction of the feature pattern will be described later
with reference to FIGS. 9 through 24.
[0065] FIGS. 7 and 8 illustrate a method to exclude a ramp as a
non-obstacle according to an example embodiment.
[0066] Referring to FIG. 7, the driving apparatus 10 may approach a
ramp 20 while being driven.
[0067] As the driving apparatus 10 approaches the ramp 20, the ramp
20 may be recognized by the LIDAR unit 210. In addition, an object
present on the driving path of the driving apparatus 10 may be
recognized by the LIDAR unit 210.
[0068] Referring to FIG. 8, a horizon 630 and the object 50 may be
included in an image generated by the camera 220.
[0069] The control unit 300 may determine that a lower area 620 of
an image area 600 below the horizon 630 is the ramp 20, based on
the moving direction of the horizon 630. Also, the control unit 300
may determine that the object 50 is a separate entity from the ramp
20 by analyzing the image generated by the camera 220. Accordingly,
the control unit 300 may exclude the ramp 20, detected by the LIDAR
unit 210, as a non-obstacle and may determine the object 50 as an
obstacle. For example, in a case where there exists the ramp 20 on
the driving path of the driving apparatus 10, the control unit 20
may determine whether the ramp 20 is an obstacle by referencing
both the detection result from the camera 220 and the detection
result from the LIDAR unit 210. Therefore, any emergency stop of
the driving apparatus 10 that may be caused due to misrecognition
of the ramp 20 as an obstacle may be prevented.
[0070] FIGS. 9 through 12 illustrate how the driving apparatus 10
moves along a driving path including an ascending ramp according to
an example embodiment, and FIGS. 13 through 16 illustrate images
captured by the camera 220 when the driving apparatus 10 moves
along a driving path including an ascending ramp according to an
example embodiment.
[0071] Referring to FIGS. 9 through 12, the driving apparatus 10
may encounter an ascending ramp 20 while being driven on the lower
flat ground 40, may enter the ascending ramp 20, and may enter the
upper flat ground 30, to which the ascending ramp 20 is
connected.
[0072] Referring to FIGS. 9 and 13, the control unit 300 may
determine the body 100 is approaching the ascending ramp 20 if a
feature pattern, for example, a horizon 630, ascends when the body
100 is moving on the lower flat ground 40.
[0073] As upper and lower areas 610 and 620 of an image area 600 of
an image captured by the camera 220 may be the sky and the ground,
respectively, at a distance from the ascending ramp 20, the horizon
630 may be recognized. As the body 100 approaches the ascending
ramp 20, the horizon 630 may ascend in the image area 600. The
control unit 300 may determine that the body 100 is approaching the
ascending ramp 20 if the ascending speed (per unit hour) of the
horizon 630 is faster than a predefined level.
[0074] Referring to FIGS. 10 and 14, the control unit 300 may
determine that the body 100 is entering the ascending ramp 20 if
the horizon 630 descends in the image area 600 when the body 100 is
moving on the lower flat ground 40.
[0075] If the body 100 enters the ascending ramp 20, the posture of
the body 100 is changed so that the sensing direction of the
surroundings detection unit 200 faces the upper side of the
ascending ramp 20. In this case, the horizon 630 may descend in the
image area 600, and the control unit 300 may determine that the
body 100 is entering the ascending ramp 20 if the descending speed
(per unit hour) of the horizon 630 is faster than a predefined
level.
[0076] Referring to FIGS. 11 and 15, the control unit 300 may
determine that the body 100 is being driven on the ascending ramp
20 based on the descending speed of the horizon 630 in the image
area 600 when the body 100 is moving along the ascending ramp
20.
[0077] When the body 100 is moving along the ascending ramp 20, the
horizon 630 may descend in the image area 600. The distance by
which the horizon 630 descends per unit hour may be relatively
small when the body 100 is moving along the ascending ramp 20. For
example, the descending speed of the horizon 630 may be faster when
the body 100 is entering the ascending ramp 20 than when the body
100 is moving along the ascending ramp 20.
[0078] As the body 100 moves along the ascending ramp 20, the
horizon 630 may continue to descend in the image area 600.
[0079] Referring to FIGS. 12 and 16, if the horizon 630 ascends in
the image area 600 when the body 100 is moving along the ascending
ramp 20, the control unit 300 may determine that the body 100 is
entering the upper flat ground 30, which is connected to the upper
part of the ascending ramp 20.
[0080] As the body 100 enters the upper flat ground 30, which is
connected to the upper part of the ascending ramp 20, the posture
of the body 100 is changed so that the sensing direction of the
surroundings detection unit 200 faces forward of the upper flat
ground 30. In this case, the horizon 630 may ascend in the image
area 600, and the control unit 300 may determine that the body 100
is entering the upper flat ground 30 if the ascending speed (per
unit area) of the horizon 630 is faster than a predefined
level.
[0081] In this manner, the control unit 300 may determine whether
the body 100 is approaching, or is moving along, the ascending ramp
20, and/or is entering the upper flat ground 30, and may exclude
the ascending ramp 20, which is detected by the LIDAR unit 210, as
a non-obstacle.
[0082] FIGS. 17 through 20 illustrate how the driving apparatus 10
moves along a driving path including a descending ramp according to
an example embodiment, and FIGS. 21 through 24 illustrate images
captured by the camera 220 while the driving apparatus 10 is moving
along a driving path including a descending ramp according to an
example embodiment.
[0083] Referring to FIGS. 17 through 20, the driving apparatus 10
may encounter a descending ramp 20 while being driven on the upper
flat ground 30, may enter the descending ramp 20, may move along
the descending ramp 20, and may enter the lower flat ground 40, to
which the descending ramp 20 is connected.
[0084] Referring to FIGS. 17 and 21, the control unit 300 may
determine that the body 100 is approaching the descending ramp 20
if a feature pattern in an image area 600, for example, a horizon
630, descends when the body 100 is moving on the upper flat ground
30.
[0085] As upper and lower areas 610 and 620 of the image area 600
are the sky and the ground, respectively, at a distance from the
descending ramp 20, the horizon 630 can be recognized. As the body
100 approaches the descending ramp 20, the horizon 630 may descend
in the image area 600. The control unit 300 may determine that the
body 100 is approaching the descending ramp 20 if the descending
speed (per unit hour) of the horizon 630 is faster than a
predefined level.
[0086] Referring to FIGS. 18 and 22, if another feature pattern in
the image area 600, for example, a lower boundary line 640, ascends
when the body 100 is moving along the descending ramp 20, the
control unit 300 may determine that the body 100 is entering the
descending ramp 20.
[0087] As the body 100 enters the descending ramp 20, the posture
of the body 100 is changed so that the sensing direction of the
surroundings detection unit 200 faces downward of the descending
ramp 20. In this case, the lower boundary line 640 may be
recognized by the camera 220, and the lower boundary line 640 may
ascend in the image area 600. The control unit 300 may determine
that the body 100 is entering the descending ramp 20 if the
ascending speed (per unit area) of the lower boundary line 640 is
faster than a predefined level.
[0088] Referring to FIGS. 19 and 23, the control unit 300 may
determine that the body 100 is being driven on the descending ramp
20 based on the descending speed of the lower boundary line 640 in
the image area 600 when the body 100 is moving along the descending
ramp 20.
[0089] When the body 100 is moving along the descending ramp 20,
the lower boundary line 640 may descend in the image area 600. The
distance by which the lower boundary line 640 descends per unit
hour may be relatively small when the body 100 is moving along the
descending ramp 20. For example, the descending speed of the
horizon 630 may be faster when the body 100 is entering the
descending ramp 20 than when the body 100 is moving along the
descending ramp 20.
[0090] As the body 100 moves along the descending ramp 20, the
lower boundary line 640 may continue to descend in the image area
600.
[0091] Referring to FIGS. 20 and 24, the control unit 300 may
determine that the body 100 is approaching a lower flat ground 40,
to which the lower part of the descending ramp 20 is connected, if
the lower boundary line 640 descends in the image area 600 when the
body 100 is moving along the descending ramp 20.
[0092] When the body 100 approaches the lower flat ground 40, which
is connected to the lower part of the descending ramp 20, the lower
boundary line 640 may descend in the image area 600. The control
unit 300 may determine that the body 100 is approaching the lower
flat ground 40 if the descending speed (per unit area) of the lower
boundary line 640 is faster than a predefined level.
[0093] In this manner, the control unit 300 may determine whether
the body 100 approaches, or is moving along, the descending ramp 20
and/or approaches the lower flat ground 40, and may exclude the
descending ramp 20, which is detected by the LIDAR unit 210, as a
non-obstacle.
[0094] An example where the lower boundary line 640 is recognized
from an image captured by the camera 220 has been described above,
but the lower boundary line 640 may not be able to be recognized
depending on the environment in which the camera 220 captures an
image and the states of the descending ramp 20 and the lower flat
ground 40 in the image captured by the camera 220. The control unit
300 may control the driving of the body 100 in different manners
depending on whether the lower boundary line 640 is properly
recognized.
[0095] FIG. 25 is a flowchart illustrating the operation of the
control unit 300 according to an example embodiment. FIG. 26
illustrates changes in weights applied to detection results of the
LIDAR unit 210 and the camera 220 according to an example
embodiment.
[0096] Referring to FIG. 25, the control unit 300 may analyze an
image received from the camera 220 (S710) to control the driving of
the body 100.
[0097] The control unit 300 may determine whether any feature
pattern is recognizable from the received image (S720) based on the
result of the analysis performed in S710. If there exists a feature
pattern recognizable from the received image, the control unit 300
may control the driving of the body 100 based on the feature
pattern (S730) according to example embodiments described
above.
[0098] On the contrary, if no feature pattern is recognizable from
the received image, the control unit 300 may control the driving of
the body 100 based on weights (S740). Specifically, the control
unit 300 may apply weights to the detection result from the LIDAR
unit 210 and the detection result from the camera 220, and may
detect a ramp and flat ground that are present on the driving path
of the body 100. For example, a ramp 20 and upper and lower flat
grounds 30 and 40 may be detected, based on the weight-applied
detection results from the LIDAR unit 210 and the camera 220. For
example, when a lower boundary line 640 is not recognizable when
the body 100 is being driven on a descending ramp 20, the control
unit 300 may control the driving of the body 100 using weights.
[0099] Referring to FIG. 26, as the body 100 is moving along the
ramp 20, the control unit 300 may lower a first weight W1 applied
to the detection result from the LIDAR unit 210 and raise a second
weight W2 applied to the detection result from the camera 220, as
compared to when the body 100 is entering the ramp 20.
[0100] When the body 100 is being driven on the descending ramp 20,
the lower boundary line 640 may not be recognized. In this case, as
the body 100 moves along the descending ramp 20, the control unit
300 may lower the first weight W1 and raise the second weight W2.
For example, the control unit 300 may set the first and second
weights W1 and W2 to be the same when the body 100 is entering the
descending ramp 20 and may then lower the first weight W1 and raise
the second weight W2 as the body 100 is moving along the descending
ramp 20. The control unit 300 may lower the first weight W1 and
raise the second weight W2 based on the distance or the amount of
time travelled by the body 100. For example, as the distance or the
amount of time travelled by the body 100 increases, the first
weight W1 may be reduced, and the second weight W2 may be raised.
Alternatively, the control unit 300 may reduce the first weight W1
and raise the second weight W2 based on at least one of the
detection result from the posture detection unit 230 and the
detection result from the posture detection unit 240. For example,
the control unit 300 may estimate the distance to the lower flat
ground 40 based on at least one of the detection result from the
posture detection unit 230 and the detection result from the
location detection unit 240 and may reduce the first weight W1 and
raise the second weight W2 based on the result of the
estimation.
[0101] At an initial stage of the driving of the body 100 along the
descending ramp 20, a determination may be made as to whether an
object ahead of the body 100 is an obstacle by applying similar
weights to the detection result from the LIDAR unit 210 and the
detection result from the camera 220. At a later stage of the
driving of the body 100 along the descending ramp 20, a
determination may be made as to whether an object ahead of the body
100 is an obstacle by applying a greater weight to the detection
result from the camera 220 than to the detection result from the
LIDAR unit 210.
[0102] At an initial stage of the driving of the body 100 along the
descending ramp 20, it may be less likely that the LIDAR unit 210
will perceive the lower flat ground 40 as an obstacle because the
lower flat ground 40 is relatively distant from the body 100. Thus,
the control unit 300 may set the reliability of the detection
result from the LIDAR unit 210 high at an initial stage of the
driving of the body 100 along the descending ramp 20. At a later
stage of the driving of the body 100 along the descending ramp 20,
it may be more likely that the LIDAR unit 210 will perceive the
lower flat ground 40 as an obstacle because the lower flat ground
40 is relatively close to the body 100. Thus, the control unit 300
may set the reliability of the detection result from the LIDAR unit
210 low at a later stage of the driving of the body 100 along the
descending ramp 20 compared to an initial stage. In this manner,
even when a feature pattern is not recognizable, any emergency stop
of the driving apparatus 10 that may be caused due to
misrecognition of the ramp 20 or the upper or lower flat ground 30
or 40 as an obstacle may be prevented by controlling the body 100
using weights.
[0103] At least one of the components, elements, modules or units
(collectively "components" in this paragraph) represented by a
block in the drawings, such as the surrounding detection unit 200,
control unit 300, and operating unit 400 in FIG. 1, and LiDAR unit
210, posture detection unit 230, and location detection unit 240 in
FIG. 2 may be embodied as various numbers of hardware, software
and/or firmware structures that execute respective functions
described above, according to an example embodiment. For example,
at least one of these components may use a direct circuit
structure, such as a memory, a processor, a logic circuit, a
look-up table, etc. that may execute the respective functions
through controls of one or more microprocessors or other control
apparatuses. Also, at least one of these components may be
specifically embodied by a module, a program, or a part of code,
which contains one or more executable instructions for performing
specified logic functions, and executed by one or more
microprocessors or other control apparatuses. Further, at least one
of these components may include or may be implemented by a
processor such as a central processing unit (CPU) that performs the
respective functions, a microprocessor, or the like. Two or more of
these components may be combined into one single component which
performs all operations or functions of the combined two or more
components. Also, at least part of functions of at least one of
these components may be performed by another of these components.
Further, although a bus is not illustrated in the above block
diagrams, communication between the components may be performed
through the bus. Functional aspects of the above exemplary
embodiments may be implemented in algorithms that execute on one or
more processors. Furthermore, the components represented by a block
or processing steps may employ any number of related art techniques
for electronics configuration, signal processing and/or control,
data processing and the like.
[0104] Although the example embodiments have been described with
reference to the above and the accompanying drawings, those of
ordinary skill in the art will understand that the present
disclosure may be implemented in other specific forms without
changing the technical spirit or essential features. Therefore, it
should be understood that the example embodiments described above
are illustrative and non-limiting in all respects.
* * * * *